Fixed bug #723.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9017 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 20 insertions, 7 deletions

diff --git a/os/hal/ports/STM32/LLD/GPIOv3/pal_lld.c b/os/hal/ports/STM32/LLD/GPIOv3/pal_lld.c
index 5f96bb785..b45f7fe15 100644
--- a/os/hal/ports/STM32/LLD/GPIOv3/pal_lld.c
+++ b/os/hal/ports/STM32/LLD/GPIOv3/pal_lld.c
@@ -156,18 +156,31 @@ void _pal_lld_setgroupmode(ioportid_t port,
       uint32_t altrmask, m1, m2, m4;

 

       altrmask = altr << ((bit & 7) * 4);

-      m4 = 15 << ((bit & 7) * 4);

-      if (bit < 8)

-        port->AFRL = (port->AFRL & ~m4) | altrmask;

-      else

-        port->AFRH = (port->AFRH & ~m4) | altrmask;

       m1 = 1 << bit;

+      m2 = 3 << (bit * 2);

+      m4 = 15 << ((bit & 7) * 4);

       port->OTYPER  = (port->OTYPER & ~m1) | otyper;

       port->ASCR    = (port->ASCR & ~m1) | ascr;

-      m2 = 3 << (bit * 2);

       port->OSPEEDR = (port->OSPEEDR & ~m2) | ospeedr;

       port->PUPDR   = (port->PUPDR & ~m2) | pupdr;

-      port->MODER   = (port->MODER & ~m2) | moder;

+       if (moder == PAL_STM32_MODE_ALTERNATE) {

+        /* If going in alternate mode then the alternate number is set

+           before switching mode in order to avoid glitches.*/

+        if (bit < 8)

+          port->AFRL = (port->AFRL & ~m4) | altrmask;

+        else

+          port->AFRH = (port->AFRH & ~m4) | altrmask;

+        port->MODER   = (port->MODER & ~m2) | moder;

+      }

+      else {

+        /* If going into a non-alternate mode then the mode is switched

+           before setting the alternate mode in order to avoid glitches.*/

+        port->MODER   = (port->MODER & ~m2) | moder;

+        if (bit < 8)

+          port->AFRL = (port->AFRL & ~m4) | altrmask;

+        else

+          port->AFRH = (port->AFRH & ~m4) | altrmask;

+      }

       port->LOCKR   = (port->LOCKR & ~m1) | lockr;

     }

     mask >>= 1;